Information Flow in a Heterogeneous Distributed System: Biomimetic Approaches to Embedded Coordinated Control

异构分布式系统中的信息流：嵌入式协调控制的仿生方法

• 批准号: 0313250
• 负责人: Kristi Hill
• 金额: $ 39.99万
• 依托单位: University of Washington
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2003
• 资助国家: 美国
• 起止时间: 2003-09-01 至 2006-12-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0313250&HistoricalAwards=false
• 关键词: Information; Flow; Heterogeneous; Distributed; System

ITR: Information Flow in a Heterogeneous Distributed System: Biomimetic Approaches to Embedded Coordinated ControlProposal number: NSF-0313250PI: Kristi A. MorgansenCoPI: Julia K. ParrishCoPI: Daniel GrunbaumThe work in this project focuses on the development of systems-level biomimetic control-theoretic models and motion control algorithms. Specifically these tools will be used to address embedded, emergent coordinated behavior of multiple underwater robots using biological systems (fish schools) as models. We will address the limits of how information transmission in coordinated groups can be effected through local sensing when the dynamics of the individual elements are not homogeneous but are allowed to be nonuniform and additionally are intentionally modified to act as control parameters. The methods to be used in this work fundamentally integrate techniques and tools from both biology and engineering, and the results have the potential for high impact in a broad range of applications. The particular applications that will be addressed in this project are emergent behaviors in mixed species schools of fish and coordinated control of autonomous underwater vehicles propelled in the carangiform style of locomotion. The long-term goals of this research are (1) an understanding of how collectives can gather and process information depending on inputs (sensory systems) and rules of individual interaction, and (2) design of collective systems to accomplish a wide range of tasks not currently feasible with autonomous vehicle systems. The interdisciplinary approach between engineering and biology used in this work provides a broad range of opportunities not only for advances in basic science but also for the purpose of education within and between the two disciplines. The initial stages of the program described here have already proven to be of interest to graduate and undergraduate students from a range of engineering disciplines. As the work progresses, stronger ties between biology and engineering will be developed through material introduced in introductory engineering and science courses, dissemination of research results, and similar means to positively influence general public perception and awareness of the impact of engineering and biology on societal concerns.

ITR：异类分布式系统中的信息流：嵌入式协调控制的仿生方法Proposal编号：NSF-0313250PI：Kristi A.MorgansenCoPI：Julia K.ParrishCoPI：Daniel Grunbaum本项目的工作重点是开发系统级仿生控制理论模型和运动控制算法。具体地说，这些工具将被用来解决以生物系统(鱼群)为模型的多个水下机器人的嵌入式、紧急协调行为。我们将解决当单个元素的动态不是均匀的、允许不均匀的并且另外被故意修改以充当控制参数时，如何通过局部感测来实现协调组中的信息传输的限制。这项工作中使用的方法从根本上整合了生物学和工程学的技术和工具，其结果有可能在广泛的应用中产生重大影响。该项目将解决的具体应用是混合鱼群中的紧急行为，以及以车状运动方式推进的自主水下航行器的协调控制。这项研究的长期目标是(1)了解集体如何根据输入(感觉系统)和个人交互规则收集和处理信息，以及(2)设计集体系统以完成目前自动车辆系统不可行的广泛任务。这项工作中使用的工程学和生物学之间的跨学科方法不仅为基础科学的进步提供了广泛的机会，而且也为这两个学科内部和之间的教育目的提供了广泛的机会。这里描述的项目的初始阶段已经被证明对来自一系列工程学科的研究生和本科生感兴趣。随着工作的进展，将通过在工程学和科学入门课程中介绍材料、传播研究成果以及通过类似手段积极影响公众对工程学和生物学对社会问题的影响的看法和认识，加强生物学和工程学之间的联系。